corrosion of the liner of the concrete containment with
local degradation at many locations to approximately half
the depth; leakage of the protective grease from the
tendon sheathing of pre-stressed concrete containments;
leaching and excessive cracking in concrete containments;
and coating failure on containment structures.

The ICM climbing robots solve these issues by adhering
to both steel and concrete, and climbing on vertical and
inverted surfaces. The climbers are outfitted with
UT/microwave/x-ray technologies that can measure and
verify wall losses from corrosion, cracks, and coating
degradation. The robots send the data to the operators,
who then send it to offices anywhere in the world for a
combined direction of the operation of the climbers during
real time access to the readings. These kinds of measures
and the identification of these issues is currently the only
existing method to verify the integrity of the walls to the
satisfaction of the NRC (Nuclear Regulatory Commission)
and the utilities that need to ensure adequate safety
measures.

the window cleaning robot called Urmakami; and the
waalbot — none of which have the soft track, all surface,
and angle scaling capabilities, or the adhesion capacity of
the ICM robots. The waalbot climbs using rotating pads
that stick to the wall and can surmount some corners, but
did not have applications beyond this. A zero gravity car bot
using suction would cling to and climb walls, but could not
adhere with any real weight attached.

Another solution — the MagneBike — uses magnetic
adhesion for power plant inspection. It cannot, however,
adhere to surfaces other than metal ones. Another climber
— the electro adhesive robot — applies electrostatic charges
to walls through pads, to adhere to walls and climb them.
This robot could actually climb concrete, metal, wood, and
glass walls, though it could not maintain adherence if
significant weight was applied.

The ICM climbing robots handle non-destructive testing
using infrared and radiological technologies. They can
perform non-aggressive surface cleaning using water jets,
cryogenics, and ice blasting. They can use cutting tools such
as saws, scissors, and shears. They can be extended using
mechanical arms, grippers, and materials-handling
technologies. They can perform drilling and welding tasks.

Forward Looking Thoughts
Competing Climbing Technologies

The closest experimental competitors to ICM’s climbers
include the train wall bot which uses four legs and feet and
a vacuum suction approach; the gecko inspired wall bot;

The International Climbing Machines bots can crawl up
300 foot wind turbine poles and are not blown off the
sides in wind and weather. Though they have a wireless
option, most are utilized using the tethered application.

The robots have replaced human turbine inspectors
who must brake the turbine (stop it), and rotate the blades
gradually while inspecting them with photography and
telescopes from the ground. This older method can take
hours, while the ICM robot takes much less time (minutes).

The wind turbine inspection approach is a collaboration
of GE's Global Research Center and ICM applying a wireless
video camera for inspections. GE
plans to follow the video camera
with a microwave technology that
can look inside the wind turbines
and poles.

Final Spin

The ICM robots are in use in
real world industrial applications
today, including inspecting large
aircraft. There are many tasks that
put humans in harm’s way, and
these climbing robots offer a safe
solution. SV
Artist's rendering of the
International Climbing Machines
robot, as part of a tank wall cleaning
system.